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Merge branch 'main' into open3d-removal

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This commit is contained in:
Abhishek Joshi
2024-07-22 11:53:15 -05:00
parent d7447c4a84 e79efa60d6
commit 079019a857
10 changed files with 64 additions and 11 deletions
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doc/changelog.rst
+3 -2
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@@ -9,15 +9,16 @@ General
^^^^^^^
1. Renamed ``mjModel.tex_rbg`` to ``mjModel.tex_data``.
2. Added a new disable flag ``mjDSBL_AUTORESETNAN`` to disable automatic reset when NaNs or infinities are produced.
MJX
^^^
2. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
3. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
Python bindings
^^^^^^^^^^^^^^^
2. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
4. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
``mujoco.spec.compile``.
Version 3.2.0 (Jul 15, 2024)
doc/includes/references.h
+2 -1
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@@ -418,8 +418,9 @@ typedef enum mjtDisableBit_ { // disable default feature bitflags
mjDSBL_SENSOR = 1<<12, // sensors
mjDSBL_MIDPHASE = 1<<13, // mid-phase collision filtering
mjDSBL_EULERDAMP = 1<<14, // implicit integration of joint damping in Euler integrator
mjDSBL_AUTORESETNAN = 1<<15, // automatic reset when numerical issues are detected
mjNDISABLE = 15 // number of disable flags
mjNDISABLE = 16 // number of disable flags
} mjtDisableBit;
typedef enum mjtEnableBit_ { // enable optional feature bitflags
mjENBL_OVERRIDE = 1<<0, // override contact parameters
include/mujoco/mjmodel.h
+2 -1
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@@ -61,8 +61,9 @@ typedef enum mjtDisableBit_ { // disable default feature bitflags
mjDSBL_SENSOR = 1<<12, // sensors
mjDSBL_MIDPHASE = 1<<13, // mid-phase collision filtering
mjDSBL_EULERDAMP = 1<<14, // implicit integration of joint damping in Euler integrator
mjDSBL_AUTORESETNAN = 1<<15, // automatic reset when numerical issues are detected
mjNDISABLE = 15 // number of disable flags
mjNDISABLE = 16 // number of disable flags
} mjtDisableBit;
introspect/enums.py
+2 -1
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@@ -42,7 +42,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjDSBL_SENSOR', 4096),
('mjDSBL_MIDPHASE', 8192),
('mjDSBL_EULERDAMP', 16384),
('mjNDISABLE', 15),
('mjDSBL_AUTORESETNAN', 32768),
('mjNDISABLE', 16),
]),
)),
('mjtEnableBit',
simulate/simulate.cc
+6
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@@ -739,12 +739,18 @@ void MakePhysicsSection(mj::Simulate* sim) {
for (int i=0; i<mjNDISABLE; i++) {
mju::strcpy_arr(defFlag[0].name, mjDISABLESTRING[i]);
defFlag[0].pdata = sim->disable + i;
if ((1 << i) == mjDSBL_AUTORESETNAN) {
defFlag[0].state = 0;
} else {
defFlag[0].state = 2;
}
mjui_add(&sim->ui0, defFlag);
}
mjui_add(&sim->ui0, defEnableFlags);
for (int i=0; i<mjNENABLE; i++) {
mju::strcpy_arr(defFlag[0].name, mjENABLESTRING[i]);
defFlag[0].pdata = sim->enable + i;
defFlag[0].state = 2;
mjui_add(&sim->ui0, defFlag);
}
// add contact override
src/engine/engine_forward.c
+12 -4
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@@ -52,7 +52,9 @@ void mj_checkPos(const mjModel* m, mjData* d) {
for (int i=0; i < m->nq; i++) {
if (mju_isBad(d->qpos[i])) {
mj_warning(d, mjWARN_BADQPOS, i);
mj_resetData(m, d);
if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
mj_resetData(m, d);
}
d->warning[mjWARN_BADQPOS].number++;
d->warning[mjWARN_BADQPOS].lastinfo = i;
return;
@@ -67,7 +69,9 @@ void mj_checkVel(const mjModel* m, mjData* d) {
for (int i=0; i < m->nv; i++) {
if (mju_isBad(d->qvel[i])) {
mj_warning(d, mjWARN_BADQVEL, i);
mj_resetData(m, d);
if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
mj_resetData(m, d);
}
d->warning[mjWARN_BADQVEL].number++;
d->warning[mjWARN_BADQVEL].lastinfo = i;
return;
@@ -82,10 +86,14 @@ void mj_checkAcc(const mjModel* m, mjData* d) {
for (int i=0; i < m->nv; i++) {
if (mju_isBad(d->qacc[i])) {
mj_warning(d, mjWARN_BADQACC, i);
mj_resetData(m, d);
if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
mj_resetData(m, d);
}
d->warning[mjWARN_BADQACC].number++;
d->warning[mjWARN_BADQACC].lastinfo = i;
mj_forward(m, d);
if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
mj_forward(m, d);
}
return;
}
}
src/engine/engine_support.c
+2 -1
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@@ -57,7 +57,8 @@ const char* mjDISABLESTRING[mjNDISABLE] = {
"Refsafe",
"Sensor",
"Midphase",
"Eulerdamp"
"Eulerdamp",
"AutoResetNaN"
};
src/user/user_model.cc
+1
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@@ -3206,6 +3206,7 @@ mjModel* mjCModel::Compile(const mjVFS* vfs, mjModel** m) {
bodies_[i]->subtreedofs = 0;
}
mjCBody* world = bodies_[0];
ResetTreeLists();
Clear();
bodies_.push_back(world);
}
test/user/user_api_test.cc
+32
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@@ -186,6 +186,38 @@ TEST_F(PluginTest, RecompileCompare) {
}
}
TEST_F(PluginTest, RecompileEdit) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<freejoint/>
<geom size=".1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1000> er;
mjSpec *spec = mj_parseXMLString(xml, 0, er.data(), er.size());
EXPECT_THAT(spec, NotNull()) << er.data();
mjModel *m1 = mj_compile(spec, nullptr);
EXPECT_THAT(m1, NotNull());
// add a geom
mjsBody *world = mjs_findBody(spec, "world");
mjsGeom *geom = mjs_addGeom(world, nullptr);
geom->size[0] = 1;
// compile again
mjModel *m2 = mj_compile(spec, nullptr);
EXPECT_THAT(m2, NotNull());
mj_deleteModel(m1);
mj_deleteModel(m2);
mj_deleteSpec(spec);
}
// ------------------- test cache with modified assets -------------------------
TEST_F(PluginTest, RecompileCompareObjCache) {
unity/Runtime/Bindings/MjBindings.cs
+2 -1
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@@ -157,7 +157,8 @@ public enum mjtDisableBit : int{
mjDSBL_SENSOR = 4096,
mjDSBL_MIDPHASE = 8192,
mjDSBL_EULERDAMP = 16384,
mjNDISABLE = 15,
mjDSBL_AUTORESETNAN = 32768,
mjNDISABLE = 16,
}
public enum mjtEnableBit : int{
mjENBL_OVERRIDE = 1,